Control System of Underwater Vehicle Based on Artificial Intelligence Methods
Piotr Szymak, Józef Małecki · 2008
Results of carried out numerical and experimental researches, which were presented partially in fig. 9, 11 and 12 confirmed that fuzzy data processing can be successfully used to steer the underwater vehicle with set values of movement's parameters. Designed control system can be used to steer another underwater vehicles with different driving systems, because control signals were forces and moment of forces, which were processed to rotational speed of propellers with assistance of separate algorithm, specific for definite type of the underwater vehicle. Positive verification of course's and draught's controllers enabled their implementation in the control desk of Ukwial. Further researches should include: verification of controllers of displacement in X and Y axis, applying of other self-adopting to varying environmental conditions control methods.